WT 500 Wait 500 ms
TP A Tell position A
V1=V1+1000 Increase the value of V1
JP #LOOP,V1<10001 Repeat if V1<10001
EN End
After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:
XQ #A Execute Program #A
Example 13 - Motion Programs with Trippoints
The motion programs may include trippoints as shown below.
Instruction Interpretation
#B Label
DP 0,0 Define initial positions
PR 30000,60000 Set targets
SP 5000,5000 Set speeds
BGA Start A motion
AD 4000 Wait until A moved 4000
BGB Start B motion
AP 6000 Wait until position A=6000
SP 2000,50000 Change speeds
AP ,50000 Wait until position B=50000
SP ,10000 Change speed of B
EN End program
To start the program, command:
XQ #B Execute Program #B
Example 14 - Control Variables
Objective: To show how control variables may be utilized.
Instruction Interpretation
#A;DP0 Label; Define current position as zero
PR 4000 Initial position
SP 2000 Set speed
BGA Move A
AMA Wait until move is complete
WT 500 Wait 500 ms
#B
V1 = _TPA Determine distance to zero
PR -V1/2 Command A move 1/2 the distance
BGA Start A motion
AMA After A moved
WT 500 Wait 500 ms
V1= Report the value of V1
JP #C, V1=0 Exit if position=0
JP #B Repeat otherwise
#C Label #C
Chapter 2 Getting Started • 29 DMC-40x0 User Manual
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